function [vL,vR]=straight_move(Outputs,dg,sig,aph,b)
    vL1=Outputs(2)/(1+aph*abs(Outputs(2)));
    vR1=Outputs(1)/(1+aph*abs(Outputs(1)));
    v=(vL1+vR1)/2;
    if(sig~=pi/2||sig~=-pi/2)
        R=dg/2/cos(sig);
    else
        R=dg/2;
    end
    if(sig>=0)
        w=v/R;
    else
        w=-v/R;
    end
    vR=v+b*w;
    vL=v-b*w;
end